cmake_minimum_required(VERSION 3.5)
project(ubt_com)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

# ---------------------------------------------------------<
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)

add_library(${PROJECT_NAME} SHARED 
  src/cJSON.cpp  
  src/ubt_com_util.cpp
  src/ubt_proto_nav.cpp
  src/ubt_proto_adjust.cpp
)

target_include_directories(${PROJECT_NAME} PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
)

ament_target_dependencies(
  ${PROJECT_NAME}
  rclcpp
  geometry_msgs
  tf2_ros
  tf2
)

ament_export_include_directories(include)
install(DIRECTORY include/ DESTINATION include)

install(TARGETS 
    ${PROJECT_NAME} 
    LIBRARY DESTINATION lib
)


ament_export_libraries(${PROJECT_NAME})

# --------------------------------------------------------->

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
